仿人机器人单目测距

仿人机器人单目测距系统刘超2012-6-21北京信息科技大学智能科学与技术系2008级摘要Ⅰ摘要仿人机器人的视觉系统是机器人获得信息的主要来源，距离信息的获取则是其中的重点。单目视觉测距具有处理量小，效率高的特点，适合一般的仿人机器人应用。对未来仿人机器人更好地与环境信息进行交互有重要的意义。本文首先研究仿人机器人、机器视觉相关基本理论与应用，包括仿人机器人的结构组成以及机器视觉的相关理论。随后研究了仿人机器人单目测距系统，RGB色彩空间与HSI色彩空间的转换以及OpenCV在模板匹配中的应用。最后针对FIRA相关比赛项目，实现仿人机器人打高尔夫，其中涉及到了目标的标定及测距。针对仿人机器人前进过程中出现的高度变化对测距精度的影响，提出了通过步态的调整来解决。并提出了一种新的设计方案来使机器人增加击球范围。通过仿人机器人打高尔夫实验结果显示，机器人能够准确识别所标定的目标球，并且进行较为精准的测距，可以满足前进以及击打等后续任务。关键词：仿人机器人；单目测距；机器视觉；AbstractⅡAbstractHumanoidrobotvisionsystemisthemainsourceoftherobottoobtaininformation,accesstheinformationofdistanceisimportant.Thefeatureofmonocularvisiondistanceishandlingcapacityandhighefficiency,Suitablefornormalhumanoidrobot.It’simportanttothefuturehumanoidrobotinteractionwiththeenvironmentalinformation.Thistreatisefirstresearchesthebasictheoryandapplicationofhumanoidrobotandmachinevision,includingthestructureofthehumanoidrobotandmachinevisiontheory.Andthenresearchthemonocularrangingsystemofthehumanoidrobot,RGBcolorspaceandHSIcolorspacetransformandtheapplicationofOpenCVinthetemplatematching.Finally,fortheFIRA-relatedcompetitionsachievehumanoidrobottoplaygolf,whichinvolvetothetargetcalibrationanddistancemeasurement.Againsttheaffectofheightchangewhilehumanoidrobotgoforward,putforwardbyadjustthetreadtosolve.Andproposeanewkindofdesigntosubjointheshootrangeofrobot.Bythetestresultofhumanoidrobotplaygolf,weknowtherobotcandistinguishthetargetballaccurate,anddistancemeasurementprecise,itcancontentedmissionofadvanceandshoot.Keywords:humanoidrobot;monoculardistancemeasurement;machinevision;目录Ⅲ目录摘要..........................................................................................................................................ⅠAbstract...................................................................................................................................Ⅱ第一章绪论..............................................................................................................................11.1选题背景和意义..............................................................................................................................11.1.1课题背景...............................................................................................................................11.1.2仿人机器人单目测距系统研究意义...................................................................................21.2国内外研究现状..............................................................................................................................21.2.1仿人机器人国内外研究现状...............................................................................................21.2.1机器视觉国内外研究现状...................................................................................................31.2.2单目测距国内外研究现状...................................................................................................31.3本文研究内容与结构......................................................................................................................31.3.1本文主要研究内容...............................................................................................................31.3.2本文的结构............................................................................................................................31.4本章小结.........................................................................................................................................4第二章仿人机器人与机器视觉系统......................................................................................52.1仿人机器人.....................................................................................................................................52.1.1仿人机器人结构...................................................................................................................62.1.2仿人机器人视觉系统性能要求...........................................................................................72.1.3仿人机器人用途...................................................................................................................72.2机器视觉.........................................................................................................................................72.2.1机器视觉概念.......................................................................................................................82.2.2机器视觉基本构成...............................................................................................................82.2.3计算机视觉面临的问题.......................................................................................................92.3图像处理基础..................................................................................................................................92.3.1数字图像的基本概念...........................................................................................................92.3.2颜色空间...............................................................................................................................92.3.3RGB与HSI颜色空间转换................................................................................................